PX4 not react to Terrain Following and Collision Prevention Messages

PX4 Autopilot
1

Hi,
I use an arduino to send DISTANCE_SENSOR ([ #132 ] and OBSTACLE_DISTANCE ([ #330 ] messages through serial interface to a CUBE flight controller.
I can see with success the messages in the QGroundcontrol but when I test my hexacopter, it react to theses messages in order to do the terrain following or the collision prevention.
For Collision Prevention I set the MPC_COL_PREV_D to 6 m.
For Terrain Following I set:
EKF2_HGT_MODE=0
EKF2_RNG_AID=1
MPC_ALT_MODE=1

I need help to understand why the flight controller receive the messages with success but don’t react to them.

2

I mean: the hexacopter never react to these messages.

3

I mean: it don’t react to theses messages in order to do the terrain following or the collision prevention.

4

Can you share the flight controller log?

5

Thanks for your reply.
I’ll share the log in about 8 hours. I have not access to the system now.

6

You can find the logs at: https://drive.google.com/open?id=1azjmhl9LGGcKabGm8IvIzIQE6E73mZmt
I will appreciate your help

7

could you please upload the log to https://review.px4.io/ and share the link? thank you

8

Ok. The log is available at https://review.px4.io/plot_app?log=934893d6-eed4-4f92-b6c0-cae769854695
Thanks

9

Thanks for the log. Unfortunately I cannot tell much from it because the logging profile doesn’t contain the messages used to do Collision Prevention. Could you please provide a log with the parameter SDLOG_PROFILE set to also log Computer Vision and Avoidance topics. Thanks

10

I’ll will do other flight with SDLOG_PROFILE set to log Computer Vision and Avoidance topics and I make it available.
Thank you for you help in this issue

11

Hi,
The log with SDLOG_PROFILE set to log Computer Vision and Avoidance is available in https://review.px4.io/plot_app?log=4f68dcbc-5faa-44e7-91d7-474c5eb1dbe9
The terrain following is not working also. Do you think there are some connection between the 2 issues?

This time I notice an alarm of Collision but the hexacopter didn’t stop.

I appreciate your help

12

Maybe this https://github.com/PX4/Firmware/issues/11133 is related with the issue of terrain following not working?

13

As far as I can tell the collision prevention is working. This is from your log. In flight review if you scroll down the bottom you can see the collision prevention warning

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